Robotic transfer device and related method

ABSTRACT

A robotic transfer device is an unmanned vehicle carrying an articulated body that can load, unload, and transport a payload. The configuration of the articulated body is such that one of the degrees of freedom is along a vertical axis so that it can lift a payload from the bottom. At the tip, the articulated body has a roller bed which can be moved up or down with or without a payload. When the rollers rotate about their own axes, the payload moves linearly along the direction of motion perpendicular to the axis of rotation. This phenomenon helps transporting the payload from one robotic transfer device to another. If a patient bed is detachable from the frame, then the robotic transfer device can lift the bed along with the patient. A robotic transfer device and a method of transferring patient from one robotic transfer device to another are disclosed.

FIELD

This application is related to the field of moving and/or transporting a payload by a robotic device, especially patient in a nursing home or hospital environment.

INTRODUCTION

Moving heavy payload from one place to another in a warehouse, hospital or other kinds of environment often requires several personnel who physically lift the payload. This task needs considerable strength and occasionally a source of injury to the personnel. While some improvement has been taking place recently in warehouse due to large scale of introduction of semi-automatic or robotic system, no change is happening in hospital. Patients are still being moved by nurses or attendants. Use of robotic transfer device in this environment not only eliminates human intervention but will safely maneuver the patient as well avoiding potential injury to the attendants.

SUMMARY

In one aspect, a robotic transfer device for lifting and transferring a payload is provided. The robotic transfer device may comprise a rolling bed, and an articulated body. The articulated body may be coupled to the rolling bed and mountable to the ground or any static object, the articulated body having one or more actuators that collectively move the rolling bed into contact with surfaces of the payload. The one or more actuators, when activated, may collectively rotate the rolling bed relative to the ground or any static object about third axis, and translate the rolling bed relative to the ground/static object along first, second and third axes.

In another aspect, a method of robotically lifting a payload is provided. The method may comprise using an algorithm that computes the path of the rolling bed to make contact with the payload avoiding obstacle, driving the rolling bed to the payload and then lifting the payload from the bottom to a certain predetermined height. The payload may be transferred thereafter to any other device or another robotic transfer device by actuating the rollers of the first robotic transfer device.

In another aspect, a robotic transfer device for lifting and transferring a payload is provided. The robotic transfer device may comprise a rolling bed, an articulated body and an unmanned vehicle. The articulated body may be coupled to the rolling bed and is mountable to the unmanned vehicle which may have one or more actuators that collectively move the unmanned vehicle along with the mounted articulated body on the ground. The one or more actuators, when activated, collectively rotate the unmanned vehicle about a vertical axis and translate along a longitudinal and transverse axis relative to any point on the ground. The articulated body may also have one or more actuators that collectively move the rolling bed into contact with surfaces of the payload. The one or more actuators, when activated, may collectively rotate the rolling bed relative to the unmanned vehicle about third axis, and translate the rolling bed relative to the unmanned vehicle along first, second and third axes.

In another aspect, a method of robotically transferring a payload using two robotic transfer devices is provided. The method may comprise using an algorithm that computes the path of the first unmanned vehicle to move to a place where from the payload is accessible from the bottom, driving the first unmanned vehicle to that place avoiding obstacle, using an algorithm that computes the path of the rolling bed to make contact with the payload avoiding obstacle, driving the rolling bed to make contact with the payload and then lifting the payload to a certain predetermined height. The method may also comprise using an algorithm that computes the path of the second unmanned vehicle to move to a place where from the payload is transferrable to the second robotic device, driving the second unmanned vehicle to that place avoiding obstacle, using an algorithm that computes the path of the second rolling bed to raise the height of the second rolling bed to the height of the first rolling bed, driving the rolling bed to the said height. Now the actuators of both roller beds are activated in a direction that guarantees the movement of the payload from first robotic transfer device to the second robotic device.

DRAWINGS

FIG. 1 is a perspective view of a robotic transfer device in accordance with an embodiment;

FIG. 2 is an exploded view of an articulated body;

FIG. 3 is an exploded view of an unmanned vehicle;

FIG. 3A is a side view of the unmanned vehicle with a section along line 2-2 in FIG. 3 ;

FIG. 4 is a perspective view of the third body portion of the articulated body;

FIG. 5 is a side view of the third body portion with a section along line 4-4 in FIG. 4 .

FIG. 6A is a top view of the rolling bed;

FIG. 6B is a front view of the rolling bed;

FIG. 6C is a side view of the rolling bed;

FIG. 7 is a schematic illustration of a controller communicatively coupled to various components;

FIG. 8 is a perspective view of the robotic transfer device lifting a payload; and

FIG. 9 is a perspective view of two robotic transfer devices cooperating with each other transferring a payload from one robotic transfer device to other.

DESCRIPTION OF VARIOUS EMBODIMENTS

Numerous embodiments are described in this application and are presented for illustrative purposes only. The described embodiments are not intended to be limiting in any sense. The invention is widely applicable to numerous embodiments, as is readily apparent from the disclosure herein. Those skilled in the art will recognize that the present invention may be practiced with modification and alteration without departing from the teachings disclosed herein. Although particular features of the present invention may be described with reference to one or more particular embodiments or figures, it should be understood that such features are not limited to usage in the one or more particular embodiments or figures with reference to which they are described.

The terms “an embodiment,” “embodiment,” “embodiments,” “the embodiment,” “the embodiments,” “one or more embodiments,” “some embodiments,” and “one embodiment” mean “one or more (but not all) embodiments of the present invention(s),” unless expressly specified otherwise.

The terms “including,” “comprising” and variations thereof mean “including but not limited to,” unless expressly specified otherwise. A listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a,” “an” and “the” mean “one or more,” unless expressly specified otherwise.

As used herein and in the claims, two or more parts are said to be “coupled”, “connected”, “attached”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate parts), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, or “directly fastened” where the parts are connected in physical contact with each other. As used herein, two or more parts are said to be “rigidly coupled”, “rigidly connected”, “rigidly attached”, or “rigidly fastened” where the parts are coupled so as to move as one while maintaining a constant orientation relative to each other. None of the terms “coupled”, “connected”, “attached”, and “fastened” distinguish the manner in which two or more parts are joined together.

As used herein and in the claims, a first element is said to be “received” in a second element where at least a portion of the first element is received in the second element unless specifically stated otherwise.

Further, although method steps may be described (in the disclosure and / or in the claims) in a sequential order, such methods may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of methods described herein may be performed in any order that is practical. Further, some steps may be performed simultaneously.

FIG. 1 shows a robotic transfer device 100, which is operable both manually and automatically to move and may lift a payload 200 (shown in FIG. 8 ), approaching payload 200 from the bottom of said payload 200. For example, robotic transfer device 100 may be operable at least to efficiently loading, unloading, transferring and transporting payload 200, as shown, from facilities to facilities. Payload 200 may be any payload such as a weight, a platform, a platform with patient, a bed, or a bed with patient. Robotic transfer device 100, when in autonomous mode, operates autonomously without any manual intervention. Robotic transfer device 100 may include an articulated body 130 that may be secured to a static or moving object. For example, articulated body 130 is secured to an unmanned vehicle 110 by a mount 112 as shown. The other end of articulated body 130 which is free to move is connected to a rolling bed 170. Articulated body 130 may be operable to move rolling bed 170 with several degrees of freedom into surface contact with payload 200. Once activated, robotic transfer device 100 may position itself under payload 200, lift payload 200 from beneath automatically (i.e. without further user action) and then, transport payload 200 to another facility, or transfer payload 200 to another robotic transfer device 100 that transport payload 200 to another facility.

Still referring to FIG. 1 , robotic transfer device 100 may include an unmanned vehicle 110 that is operable to move manually. Unmanned vehicle 110 may also move or rotate autonomously from place to place on any floor or ground. For example, unmanned vehicle 110 may move on a combination of wheels 114 and castor wheels 115 along a straight line, a curvilinear or a more complex path. When the velocities of two wheels 114 ₁ and 114 ₂ are same both in magnitude and direction unmanned vehicle 110 moves along a straight line. However, when the velocities of two wheels 114 ₁ and 114 ₂ are same in magnitude but opposite in direction unmanned vehicle 110 rotates about its central vertical axis. This central vertical axis lies at the center of the line joining the centers of the two wheels 114 ₁ and 114 ₂ and is perpendicular to the said line joining the centers of the two wheels 114 ₁ and 114 ₂. When the velocities of the two wheels 114 ₁ and 114 ₂ are same in direction but different in magnitude unmanned vehicle 110 moves along a curvilinear path. Front Castor wheel 115 ₁ and back castor wheel 115 ₂ are free wheels that can rotate about their respective vertical axes. There are no actuators to drive castor wheel(s) 115.

FIG. 2 is an exploded view of articulated body 130. Articulated body 130 may include one or more actuators 134 that, when activated, collectively act to move rolling bed 170 relative to first body portion 136, the base of articulated body 130. For example, actuators(s) 134 may form part of articulated body 130 as shown. Actuators 134 may act to impart any movement upon rolling bed 170. For example, each actuator 134 may act to rotate rolling bed 170, translate rolling bed 170, or move rolling bed 170 in more complex patterns involving both rotation and translation in one or more direction. In some embodiments, actuator(s) 134 may be operable to rotate rolling bed 170 about third or yaw axis 132 ₃ and translate rolling bed 170 along first, second and third axes 132 ₁, 132 ₂ and 132 ₃. This may be achieved by any number of actuators 134.

Still referring to FIG. 2 , articulated body 130 may include a first actuator 134 ₁ that acts upon a screw 150 ₁ and a nut 152 ₁ mechanism to translate the rolling bed 170 along a first axis 132 ₁, a second actuator 134 ₂ that acts upon a screw 150 ₂ and a nut 152 ₂ mechanism to translate the rolling bed 170 along a second axis 132 ₂, a third actuator 134 ₃ that acts upon a screw jack(s) 158 to change the motion from a horizontal axis to a vertical axis and then acts upon an inter thread to translate the rolling bed 170 along a third axis 132 ₃ and a fourth actuator 134 ₄ that acts upon a first gear 148 ₁ and a second gear 148 ₂ to rotate the rolling bed 170 about the third axis 132 ₃. Third axis 132 ₃ is a vertical axis, also known as yaw axis. First and second axes 132 ₁ and 132 ₂ are any axes that are mutually perpendicular, but they do not lie on a same plane. So, they do not intersect with each other. Again, third axis 132 ₃ is perpendicular to both first and second axes 132 ₁ and 132 ₂. However, first, second and third axes 132 ₁, 132 ₂ and 132 ₃ are not collinear. While the design of articulated body 130 is primarily based on a configuration of robotic system having four degrees of freedom, other robotic configuration with one or more degree(s) of freedom can also perform the job. For example, only third axis motion may solve the problem with less flexibility to position rolling bed 170 under payload 200, or the rotation about the third axis of the above-described articulated body 130 may be designed at each of rolling bed(s) 170 to increase the flexibility of positioning rolling bed 170 under payload 200.

Referring to FIGS. 2-3 , robotic transfer device 100 may include a controller 210 that is communicatively couple to actuator(s) 134 to send control signals that activate actuator(s) 134 automatically to perform a task defined by the user. Actuator(s) 134 can be any device that acts to impart movement upon rolling bed 170 in response to control signals (e.g. electrical signals) from controller 210. For example, actuator(s) 134 may include servos as shown, DC or AC motors, fluid piston cylinders, or another type of actuator. In the illustrated example as shown in FIG. 2 , articulated body 130 includes a first body portion 136 rotatably connected about third axis 132 ₃ to a second body portion 138, a third body portion 140 linearly movable along first axis 132 ₁ connected to second body portion 138 and a fourth body portion 142 linearly movable along second axis 132 ₂ connected to third body portion 140. As shown, fourth actuator 134 ₄ may be mounted to first body portion 136 so that fourth actuator 134 ₄ can be activated to impart rotation of second body portion 138 relative to first body portion 136 about third axis 132 ₃. The motion from fourth actuator 134 ₄ to second body portion 138 is transmitted through gear 148. Gear 148 may be any gear that can transmit motion between coplanar parallel axes. While gear 148 ₁ picks up rotary motion from an extension shaft of fourth actuator 134 ₄, gear 148 ₂ impart motion through shaft 146 connected to second body portion 138. First actuator 134 ₁ may be mounted on second body portion 138 so that first actuator 134 ₁ can be activated to impart rotation onto screw 150 ₁ rotatably connected about first axis 132 ₁ to third body portion 140. Third body portion 140 is bevel shaped and may include a nut 152 ₁. Third body portion 140 is fitted into bevel shaped slot on second body portion 138. Screw 150 ₁ is connected to nut 152 ₁. This arrangement, when first actuator 134 ₁ drives screw 150 ₁ to rotate, allows third body portion 140 to slide smoothly on second body portion 138 as the bevel shape restricts rotary motion of third body portion 140. In this way, rotary motion of screw 150 ₁ drivingly connected to third body portion 140 converts rotary to linear motion resulting in third body portion 140 to move between a retracted and an extended position. Second actuator 134 ₂ may be mounted on third body portion 140 so that second actuator 134 ₂ can be activated to impart rotation of a screw 150 ₂ rotatably connected about second axis 132 ₂ to fourth body portion 142. Fourth body portion 142 is bevel shaped and may include a nut 152 ₂ which is fitted into bevel shaped slot on third body portion 140. Screw 150 ₂ is connected to nut 152 ₂. This arrangement, when second actuator 134 ₂ drives screw 150 ₂ to rotate, allows fourth body portion 142 to slide smoothly on third body portion 140 as the bevel shape restricts rotary motion of fourth body portion 142. In this way, rotary motion of screw 150 ₂ drivingly connected to fourth body portion 142 converts rotary to linear motion resulting in fourth body portion 142 to move between a retracted and an extended position.

Referring to FIGS. 3 - 3A, unmanned vehicle 110 may include one or more actuators 116 that, when activated, collectively act to move unmanned vehicle 110 relative to a fixed point in space. For example, the actuator(s) 116 may form part of unmanned vehicle 110 as shown in FIG. 3 . Unmanned vehicle 110 also includes controller 210 that is communicatively coupled to actuator(s) 116 to send control signals that activate actuator(s) 116 to perform a movement automatically. Both articulated body 130 as well as unmanned vehicle 110 may also be operable by a teach pendent 212 connected by a cable 204. Actuator(s) 116 may act to impart any movement upon unmanned vehicle 110. For example, each actuator 116 may act to rotate unmanned vehicle 110, translate unmanned vehicle 110, or move unmanned vehicle 110 in more complex patterns involving both rotation and translation in one or more directions. In some embodiments, actuator(s) may be operable to rotate unmanned vehicle about third axis 108 ₃ and translate unmanned vehicle 110 along first and second axes 108 ₁ and 108 ₂ respectively. This may be achieved by any number of actuators 116.

Still referring to FIGS. 3-3A, unmanned vehicle 110 may include a first actuator 116 ₁ that acts to rotate a first wheel 114 ₁ about first wheel axis 118 ₁ and a second actuator 116 ₂ that acts to rotate a second wheel 114 ₂ about second wheel axis 118 ₂. First and second wheel axes 118 ₁ and 118 ₂ are parallel with an offset between them as minimal as possible. As shown, actuator(s) 116 can be any device that acts to impart movement upon wheel(s) 114 in response to control signals (e.g. electrical signals) from controller 210. For example, actuator(s) 116 may include servos, DC or AC motors, fluid piston cylinders, or another type of actuator. In the illustrated example, unmanned vehicle 110 may include a first gearbox 120 ₁ that transmits motion from first actuator 116 ₁ to first wheel 114 ₁ and a second gearbox 120 ₂ that transmits motion from second actuator 116 ₂ to second wheel 114 ₂. Gearbox(es) 120 can be any mechanism that reduces the velocity it received from actuator(s) 116 and the reduced velocity is then transmitted to wheel(s) 114. As shown, gearbox(es) 120 may include a pinion(s) 122 and a gear(s) 124. For example, first gearbox 120 ₁ includes a first pinion 122 ₁ meshed with a first gear 124 ₁ that finally, connected to first wheel 114 ₁. Hence, the velocity of first pinion 122 ₁, when transmitted to first gear 124 ₁, is reduced by a factor which is the ratio of the diameters of first gear 124 ₁ and first pinion 122 ₁. First gearbox 120 ₁ also increases the torque by the same factor as well. Second gearbox 120 ₂ includes a second pinion 122 ₂ meshed with a second gear 124 ₂ that finally, connected to second wheel 114 ₂. Hence, the velocity of second pinion 122 ₂, when transmitted to second gear 124 ₂, is reduced by a factor which is the ratio of the diameters of second gear 124 ₂ and second pinion 122 ₂. Second gearbox 120 ₂ also increases the torque by the same factor as well.

Still referring to FIG. 3 , controller 210 controls the velocity of actuator(s) 116. When the speed of first and second actuator(s) 116 ₁ and 116 ₂ are equal unmanned vehicle 110 moves linearly along a straight-line path which is parallel to axis 108 ₂. However, when the speed of first and second actuator(s) 116 ₁ and 116 ₂ are not equal unmanned vehicle 110 moves along a curvilinear path. And, when the speed of first and second actuator(s) 116 ₁ and 116 ₂ are equal in magnitude but opposite in direction unmanned vehicle 110 rotates about its vertical axis 108 ₃. Unmanned vehicle 110 does not have any steering wheel. Instead, difference of wheel velocity is used to mimic the function of a steering wheel.

Referring to FIGS. 4 - 5 , fifth body portion(s) 144 is shown in accordance with an embodiment. As shown, fifth body portion(s) 144 includes a screw shaft(s) 154 and an actuator 134 ₃. Screw shaft(s) 154 has a distal end 156 to which rolling bed 170 is mounted in use. Screw shaft(s) 154 is movable between an extended position and a retracted position by the operation of actuator 134 ₃. Actuator 134 ₃ may be a rotary-type actuator, such as a servo, and drivingly connected to screw shaft(s) 154 indirectly by a mechanism that converts rotary to linear movement. For example, screw jack(s) 158 as illustrated in FIG. 5 is one such mechanism. Screw jack(s) 158 may include any gear arrangement that may convert rotary movement of rotary actuator 134 ₃ into linear movement of screw shaft(s) 154 moving screw shaft(s) 154 between a retracted position and an extended position. In case of twin screw jacks 158, actuator 134 ₃ may be a dual shaft actuator and may be directly connected to a first screw jack 158 ₁ on the left-hand side and a second screw jack 158 ₂ on the right-hand side. In case of single shaft actuator for twin screw jacks 158, rotary motion needs to be transferred from single shaft actuator to first screw jack 158 ₁ as well as second screw jack 158 ₂. First screw jack 158 ₁ and second screw jack 158 ₂ are identical in design. First screw jack 158 ₁ may include a first worm 162 ₁ that is drivingly connected to actuator 134 ₃. First worm 162 ₁ may be any worm that can transmit power to a first worm gear 160 ₁, when in mesh. First worm gear 160 ₁ is any worm gear that has gear teeth on the outer periphery and thread on the inner periphery. Because of both gear and thread, first worm gear 162 ₁ acts like a gear as well as a nut. While the outer teeth of first worm gear 160 ₁ meshes with the helical thread on first worm 162 ₁ the inner thread of first worm gear 160 ₁ connects first worm gear 160 ₁ to first screw shaft 154 ₁ resulting in a linear vertical motion of first screw shaft 154 ₁ along vertical axis 132₃₁. Second screw jack 158 ₂ may include a second worm 162 ₂ that is drivingly connected to actuator 134 ₃. Second worm 162 ₂ may be any worm that can transmit power to a second worm gear 160 ₂, when in mesh. Second worm gear 160 ₂ is any worm gear that has both gear teeth on the outer periphery and thread on the inner periphery. Because of both gear and thread, second worm gear 162 ₂ acts like a gear as well as a nut. While the outer teeth of second worm gear 160 ₂ meshes with the helical thread on second worm 162 ₂ the internal thread of second worm gear 160 ₂ connects second worm gear 160 ₂ to first screw shaft 154 ₂ resulting in a linear vertical motion of second screw shaft 154 ₂ along vertical axis 132₃₂.

Referring to FIGS. 6A, 6B and 6C, rolling bed 170 is shown in three different views - top, front and side respectively. Rolling bed 170 includes a plurality of cylindrical roller(s) 180 and an actuator 134 ₅. Actuator 134 ₅ may be a rotary-type actuator, such as a servo, and drivingly connected to roller(s) 180 indirectly by a gearbox 172 that transmits the rotary motion of actuator 134 ₅ to the rotary motion of roller(s) 180. For example, actuator 134 ₅ may be directly connected to a pinion 174 which is any pinion that can transmit rotary motion between two parallel axes lying on a same plane. Actuator 134 ₅ rotates about an axis 132 ₄. Pinion 174 rotates about an axis which is same as the axis of rotation of actuator 134 ₅, i.e., axis 132 ₄. Similarly, each roller rotates with a same uniform velocity in the same direction about an axis called roller axis(es) 182. As shown, there are eight rollers and so are eight roller axes 182. Therefore, axis 132 ₄ may be parallel to any of roller axes 182 and may lie on a same plane. As illustrated in FIG. 6C, axis 132 ₄ is parallel to fourth roller axis 182 ₄ and lies on the same vertical plane.

Referring to FIGS. 6B and 6C, Gearbox 172 includes one or more gears 178 of same diameter that transfer rotary motion from pinion 174 to rollers 180. For example, fourth gear 178 ₄ may be connected to fourth roller 180 ₄ and rotate about fourth roller axis 182 ₄. Fourth gear 178 ₄ may be any gear that is connected to pinion 174 thereby transfers rotary motion from pinion 174 to fourth roller 180 ₄. Gear box 172 may include idle gear(s) 176 to transmit rotary motion from fourth gear 178 ₄ to all other gears 178 which are, in turn, connected to all other rollers 180 thereby transmits rotation from fourth gear 180 ₄ to all other rollers 180. Idle gears 176 also helps maintaining the same direction of rotation of all rollers 180. For example, fourth gear 178 ₄ transmits rotation to both third idle gear 176 ₃ and fourth idle gear 176 ₄ thereby changes direction of rotation of fourth gear 178 ₄. However, third idle gear 176 ₃ and fourth idle gear 176 ₄, when transmit rotation to third gear 178 ₃ and fifth gear 178 ₅ respectively, change the direction again thereby bring the direction back to the same direction as the direction of rotation of fourth gear 178 ₄ was. As third roller 180 ₃ and fifth roller 180 ₅ are connected to third gear 178 ₃ and fifth gear 178 ₅ respectively, third roller 180 ₃ and fifth roller 180 ₅ rotate with same velocity and in same direction.

Third gear 178 ₃ drives second idle gear 176 ₂ thereby changes direction of rotation of third gear 178 ₃. However, second idle gear 176 ₂, when transmits rotation to second gear 178 ₂, changes the direction again thereby bring the direction back to the same direction as the direction of rotation of third gear 178 ₃ was. As second gear 178 ₂ is rigidly connected to second roller 180 ₂, both second gear 178 ₂ and second roller 180 ₂ rotate in unition. Second gear 178 ₂ drives first idle gear 176 ₁ thereby changes direction of rotation of second gear 178 ₂. However, first idle gear 176 ₁, when transmits rotation to first gear 178 ₁, changes the direction again thereby bring the direction back to the same direction as the direction of rotation of second gear 178 ₂ was. As first gear 178 ₁ is rigidly connected to first roller 180 ₁, both first gear 178 ₁ and first roller 180 ₁ rotate in unition.

Fifth gear 178 ₅ drives fifth idle gear 176 ₅ thereby changes direction of rotation of fifth gear 178 ₅. However, fifth idle gear 176 ₅, when transmits rotation to sixth gear 178 ₆, changes the direction again thereby bring the direction back to the same direction as the direction of rotation of fifth gear 178 ₅ was. As sixth gear 178 ₆ is rigidly connected to sixth roller 180 ₆, both sixth gear 178 ₆ and sixth roller 180 ₆ rotate in unition. Sixth gear 178 ₆ drives sixth idle gear 176 ₆ thereby changes direction of rotation of sixth gear 178 ₆. However, sixth idle gear 176 ₆, when transmits rotation to seventh gear 178 ₇, changes the direction again thereby bring the direction back to the same direction as the direction of rotation of sixth gear 178 ₆ was. As seventh gear 178 ₇ is rigidly connected to seventh roller 180 ₇, both seventh gear 178 ₇ and seventh roller 180 ₇ rotate in unition. Seventh gear 178 ₇ drives seventh idle gear 176 ₇ thereby changes direction of rotation of second gear 178 ₇. However, seventh idle gear 176 ₇, when transmits rotation to eight gear 178 ₈, changes the direction again thereby bring the direction back to the same direction as the direction of rotation of seventh gear 178 ₇ was. As eighth gear 178 ₈ is rigidly connected to eighth roller 180 ₈, both eighth gear 178 ₈ and eighth roller 180 ₈ rotate in unition.

Reference is now made to FIG. 7 , which shows a schematic illustration of controller 210 in accordance with an embodiment. As shown, controller 210 may include a processor (hardware) 222 and memory 224 that are communicatively coupled to actuators 134 of articulated body 130, actuators 116 of unmanned vehicle 110, sensor(s) 218 and user-interface member(s) 226. Processor 222 may be any device that can send control signals, wirelessly or by wire, that activate actuators 136 and actuators 116 if present, in accordance with instructions (e.g. a payload lift or transfer program) stored in memory 224.

In some embodiments, execution of instructions from memory 224 relies in part on user inputs from user-interface member(s) 226 and/or information from sensor(s) 218. As seen in FIG. 3 , user-interface member(s) 226 may include a teach pendant 212 or a display 208 (e.g. electronic display), user input controls (e.g. buttons), a speaker, and a microphone for example. Returning to FIG. 7 , controller 210 includes a communication device 220 that allows for one or both of wired communication (e.g. by USB) or wirelessly communication (e.g. by 802.11x, Bluetooth, or infrared). In some embodiments, a user may send instructions to controller 210 from an external device (e.g. computer or smartphone) by wire or wireless through communications device 220. Controller 210 may be positioned anywhere on robotic transfer device 100. For example, controller 210 may be positioned within articulated body 130. In the illustrated example, controller 210 is positioned within unmanned vehicle 110 as shown in FIG. 3 and enclosed with mount 112. In order to avoid repetitious reference to FIG. 7 , the reader is directed to refer to FIG. 7 in connection with any mention hereafter of controller 210 or components thereof.

Referring to FIG. 7 and FIG. 3 , in some embodiments, robotic transfer device 100 includes distance sensors 214 and contact sensors 216. Both distance sensors 214 and contact sensors 216 are communicatively coupled to processor 220. Distance sensors 214 can include any one or more devices that can collectively provide sensory information to controller 210 from which controller 210 can infer (e.g. determine) distance between any obstacle and distance sensors 214. For example, distance sensors 214 may include one or more of a lidar, sonar or infrared sensor. Distance sensors 214 may be located on unmanned vehicle and/or articulated body 130. As shown, unmanned vehicle 110 includes six distance sensors 214 at the front. While on the left front there are first distance sensor 214 ₁, second distance sensor 214 ₂ and third distance sensor 214 ₃, on the right front there are forth distance sensor 214 ₄, fifth distance sensor 214 ₅ and sixth distance sensor 214 ₆. Controller 210 may compute the path of unmanned vehicle 110 based on distance sensors 214 readings and then, drives actuator(s) 116 along the computed path to move unmanned vehicle 110. Controller 210 may avoid obstacles using first distance sensor 214 ₁, second distance sensor 214 ₂, fourth distance sensor 214 ₄ and fifth distance sensor 214 ₅. Controller 210 may also compute the path of articulated body 130 and then, drives actuator 134 along the computed path to move articulated body 130. For example, controller 210 may activate 134 ₃ to move rolling bed 170 vertically upward based on the output of third distance sensor 214 ₃ and sixth distance sensor 214 ₆. Controller 210 may calculate the distance of payload 200 from rolling bed 170 by computing the mean of the values of third distance sensor 214 ₃ and sixth distance sensor 214 ₆. When the mean becomes equal to or less than a predetermined value, controller 200 understands that rolling bed 170 is in contact with payload 200. The predetermined value may be selected based on the characteristics of distance sensors 214 ₃ and 214 ₆ and the bottom surface of payload 200. At this point, controller 210 knows that rolling bed 170 is going to lift payload 200 and may need large force depending on the weight of payload 200. Controller 210 also knows at what height rolling bed 170 needs to be lifted.

In some embodiments, robotic transfer device 100 includes contact sensors 216 that are communicatively coupled to processor 220. Contact sensors 216 can include any one or more devices that can collectively provide sensory information to controller 210 from which controller 210 can infer (e.g. determine) contact between payload 200 and rolling bed 170 or any obstacle and unmanned vehicle 110. For example, contact sensor 216 may include one or more of a bumper, infrared sensor, accelerometer, or force sensor. Controller 210 may establish and/or maintain contact between rolling bed 170 and payload 200 based on reading from contact sensor. For example, controller 210 may activate 134 ₃ to move rolling bed 170 vertically upward until controller 210 determines from contact sensor 216 that rolling bed 170 exerts a force on the bottom surface of payload 200 that is more than a predetermined force value. The predetermined force value may be selected based on the characteristics of contact sensor 216 and bottom surface of payload 210. At this point, controller 210 knows that rolling bed 170 is going to lift payload 200 and may need large force depending on the weight of payload 200. Controller 210 also knows at what height rolling bed 170 needs to be lifted.

In alternative embodiments, robotic transfer device 100 may not include a contact sensor 216. For example, robotic transfer device 100 may be integrated into or purpose build to lift a specific payload 200, whereby controller 210 is preconfigured with lift height. In some embodiments, robotic transfer device 100 may be user-configurable with input instruction for control parameter data as for example, parameter data file may be uploaded wirelessly.

Now, referring to FIG. 8 , in some embodiments, robotic transfer device 100 holds a payload 200 lifting the same from a bed frame 230. Robotic transfer device 100 may be operated by a teach pendent 212 wirelessly or connected by cable 204. Teach pendent 212 may include a display 208 and push buttons 206 or other devices such as knobs and joysticks as shown in FIG. 3 . Display 208 may show various control parameters data using software interface with controller 210. Push buttons 206 may be used to operate unmanned vehicle 110 and articulated body 130. For example, unmanned vehicle 100 may be operable along a straight line, forward or backward by activating both first actuator 116 ₁ and second actuator 116 ₂ with same velocities. Unmanned vehicle 100 may be operable turning right or left — forward or backward by activating both first actuator 116 ₁ and second actuator 116 ₂ with different velocities. Push buttons 206 are used to operate articulated body 130 too. Articulated body 130 may be operable along axes 132 ₁, 132 ₂ and 132 ₃ by activating first actuator 134 ₁, second 134 ₂ and third actuator 134 ₃ respectively. Articulated body 130 may be operable to rotate about axis 134 ₃ by activating fourth actuator 134 ₄. When operated manually, the operator uses push buttons 206 to maneuver unmanned vehicle 110, sees the surrounding environment, avoids obstacles and brings unmanned vehicle 110 right under bed frame 230. Then, the operator maneuvers articulated body using push buttons 206 to position rolling bed 170 right under payload 200. Payload 200 may include a patient 202. The operator activates third actuator 134 ₃ upward to lift payload 200.

Alternatively, robotic transfer device 100 may be operable autonomously. In this case, the destination of unmanned vehicle 110 is to be fed into controller 210 by the operator. Controller 210 computes the path and the speed of actuators 116 with respect to time for unmanned vehicle 110 so that unmanned vehicle 110 is able to reach to the said destination. Then, controller 210 activates both first actuator 116 ₁ and second actuator 116 ₂ simultaneously, avoids obstacles using sensors 216 and if needed, re-calculates the path and the speed of actuators 116 with respect to time for unmanned vehicle 110 to reach to the said destination. After reaching, controller 210 computes the path of articulated body 130 to make contact with payload 200. Controller 210 also calculates the speed of first actuator 134 ₁, second actuator 134 ₂, third actuator 134 ₃ and fourth actuator 134 ₄ and activates actuators 134 to have contact between rolling bed 170 and payload 200. In some embodiment, rolling bed 170 may include contact sensor 216 that sends signal to controller 210 when a contact is made by rolling bed 170 with payload 210. Finally, controller 210 activates actuator 134 ₄ to lift payload 200 to a certain height. This height may vary application to application and is a parameter to be set by the user.

FIG. 9 shows two robotic transfer devices 100. For example, first robotic transfer device 100 ₁ is on the right-hand side holding a payload 200 and second robotic transfer device 100 ₂ is on the left-hand side ready to receive payload 200 from first robotic transfer device 100 ₁. The two positions of robotic transfer devices 100 may be any but stationed side-by-side such that payload 200 including patient 202 may be transferred by first robotic transfer device 100 ₁ to second robotic transfer device 100 ₂. As explained above, second robotic device 100 ₂ may be operated either manually or autonomously. When operated manually, teach pendant 212 is used. The operator uses push buttons 206 to maneuver unmanned vehicle 110 of second robotic transfer device 100 ₂, looks around the surrounding environment, avoids obstacles and brings unmanned vehicle 110 right beside first robotic transfer device 100 ₁. Then, the operator maneuvers articulated body using push buttons 206 to position rolling bed 170 right beside rolling bed 170 of first robotic transfer device 100 ₁ as shown in FIG. 9 . Payload 200 may include a patient 202. The height of rolling bed 170 of second robotic transfer device 100 ₂ is maintained same as the height of rolling bed 170 of first robotic transfer device 100 ₁. Both rolling beds 170 of two robotic transfer devices 100 are aligned parallel. The gap between two rolling beds 170 is very small and is such that payload 200 would not slip through the gap and fall down when transfer operation from first robotic transfer device 100 ₁ to second robotic transfer device 100 ₂ would be performed. When the operator using teach pendant 212 activates fifth actuators 134 ₅ of both robotic transfer devices 100, all rollers 180 of both rolling beds 170 start rotating in a same direction with a same angular velocity thereby move payload 200 including patient 202 along one direction perpendicular to the axis of rotation of rollers 180. The direction of the angular velocity is such that payload 200 moves along a direction which leads to move payload 200 from first robotic transfer device 100 ₁ to second robotic transfer device 100 ₂. The operator observes the motion and stops fifth actuators 134 ₅ of both robotic transfer devices 100 when the transfer operation of payload 200 is finished.

The transfer operation may be carried out autonomously too without using the teach pendant 212. In this case, the destination of second robotic transfer device 100 ₂ is to be fed into controller 210 by an operator. Controller 210 computes the path and the speed of actuators 116 with respect to time for unmanned vehicle 110 of second robotic device 100 ₂ so that unmanned vehicle 110 can reach the said destination. Then, controller 210 activates both first actuator 116 ₁ and second actuator 116 ₂ of second robotic transfer device 100 ₂ simultaneously, avoids obstacles using sensors 218 and if may re-calculate the path and the speed of actuators 116 with respect to time for unmanned vehicle 110 to reach the said destination. After reaching, controller 210 computes the path of articulated body 130 to position rolling bed 170 right beside rolling bed 170 of first robotic transfer device 100 ₁ as shown in FIG. 9 . The height of rolling bed 170 of second robotic transfer device 100 ₂ is maintained same as the height of rolling bed 170 of first robotic transfer device 100 ₁. Now, controller 210 calculates the speed of first actuator 134 ₁, second actuator 134 ₂, third actuator 134 ₃ and fourth actuator 134 ₄ and activates actuators 134 to move rolling bed 170 od second robotic transfer device 100 ₂ to desired location. Both rolling beds 170 of two robotic transfer devices 100 are now aligned parallel. The gap between two rolling beds 170 is very small and is such that payload 200 would not slip through the gap and fall down when transfer operation from first robotic transfer device 100 ₁ to second robotic transfer device 100 ₂ would be performed. Finally, controller 210 activates fifth actuators 134 ₅ of both robotic transfer devices 100 and as a result, all rollers 180 of both rolling beds 170 start rotating in the same direction with a same angular velocity thereby move payload 200 including patient 202 along one direction perpendicular to the axis of rotation of rollers 180. The direction of the angular velocity is such that payload 200 moves along a direction which leads to move payload from first robotic transfer device 100 ₁ to second robotic transfer device 100 ₂. Controller 210 monitors the movement and stops fifth actuators 134 ₅ of both robotic transfer devices 100 when the transfer operation of payload 200 is finished. 

1. A robotic transfer device for transferring a payload, the robotic transfer device comprising: one or more rolling bed(s); and an articulated body coupled to the rolling bed(s), the articulated body having a fixed base and one or more actuator(s) that collectively move the rolling bed(s) from one pose (position and orientation) to another pose in three-dimensional space, the one or more actuator(s), when activated, collectively translates the rolling bed(s) relative to the fixed base along first, second and third axes and rotate the rolling bed(s) about the third axis relative to the fixed base.
 2. The robotic transfer device of claim 1, wherein: the one or more actuators includes a first actuator that translates the rolling bed(s) along the first axis, a second actuator that translates the rolling bed(s) along the second axis, a third actuator that translates the rolling bed(s) along the third axis, also known as yaw axis, and a fourth actuator that rotates the rolling bed(s) about the same third axis, all the said translations and rotation are relative to the fixed base.
 3. The robotic transfer device of claim 1, further comprising: a controller communicatively coupled to the one or more actuators to send control signals that direct the one or more actuators to translate and rotate the rolling bed(s).
 4. The robotic transfer device of claim 3, further comprising: one or more distance sensor(s) communicatively coupled to the controller to send sensor readings to the controller indicative of distance between the obstacle and the articulated body.
 5. The robotic transfer device of claim 3, further comprising: one or more contact sensor(s) communicatively coupled to the controller to send sensor readings to the controller indicative of contact between the obstacle and/or payload and the robotic transfer device.
 6. The robotic transfer device of claim 3, wherein: in response to a user instruction, the controller sends control signals to the one or more actuators to execute a moving operation in which the rolling bed(s) is moved into contact with a surface of the payload.
 7. The robotic transfer device of claim 1, further comprising: an extension shaft(s) having a distal end(s), wherein the rolling bed(s) is mounted to the distal end(s) of the extension shaft, and one or more actuators act to move the extension shaft(s) between an extended position(s) and a retracted position(s).
 8. The robotic transfer device of claim 1, wherein the rolling bed(s) includes a plurality of cylindrical rollers forming a bed.
 9. The robotic transfer device of claim 8, wherein: the rolling bed(s) includes an actuator that drives the cylindrical rollers to rotate about their longitudinal axes.
 10. A robotic patient transfer device for transferring a payload by an unmanned vehicle, the robotic transfer device comprising: an unmanned vehicle having one or more actuator(s) that collectively move the unmanned vehicle relative to a fixed point in a three-dimensional space; one or more rolling bed(s); an articulated body coupled to the rolling bed(s) and mountable to the unmanned vehicle, the articulated body having one or more actuator(s) that collectively move the rolling bed(s) relative to the unmanned vehicle, the one or more actuator(s), when activated, collectively translates the rolling bed(s) relative to the unmanned vehicle along first, second and third axes and rotate the rolling bed(s) about the third axis relative to the unmanned vehicle; and a controller communicatively coupled to the one or more actuators to send control signals that direct the one or more actuators to activate.
 11. The robotic patient transfer device of claim 10, wherein: the one or more actuators of the unmanned vehicle includes a first actuator that translates the unmanned vehicle along a longitudinal axis and a second actuator that translates the unmanned vehicle along the same longitudinal axis.
 12. The robotic patient transfer device of claim 10, wherein: a combination of equal and same directional velocities of the first and second actuator translates the unmanned vehicle along the longitudinal axis, a combination of unequal and same directional velocities of the first and second actuator translates the unmanned vehicle along the longitudinal axis and a transverse axis, the transverse axis being perpendicular to the longitudinal axis on a horizontal plane, and rotates the unmanned vehicle about a vertical axis, also known as yaw axis, the vertical or yaw axis being mutually perpendicular to both the longitudinal as well as transverse axes, and a combination of equal but mutually opposite directional velocities of the first and second actuator rotates the unmanned vehicle about the vertical axis or yaw axis.
 13. The robotic patient transfer device of claim 10, wherein: in response to a user instruction, the controller sends control signals to the one or more actuators to execute a moving operation in which either the unmanned vehicle is moved, or the rolling bed(s) is moved, or both the unmanned vehicle and the rolling bed(s) are moved or the rollers of the rolling bed(s) rotates or any combinational of complex movement takes place.
 14. The robotic patient transfer device of claim 10, further comprising: a mount securable to the unmanned vehicle; and a connector coupled to the articulated body and removably connectable to the mount.
 15. A method of robotically transferring a patient, the method comprises: moving a first robotic patient transfer device under a patient bed; lifting the patient bed with the patient; moving a second robotic patient transfer device near the patient bed; and transferring the patient bed from the first robotic patient transfer device to the second robotic patient transfer device.
 16. The method of claim 5, wherein moving the first robotic patient transfer device under the patient bed comprises: computing a path for the first unmanned vehicle; driving the first unmanned vehicle along the said path; and positioning the rolling bed(s) under the patient bed.
 17. The method of claim 16, wherein positioning the rolling bed(s) under the patient bed comprises: computing a path for the rolling bed(s); and driving the rolling bed(s) along the said path.
 18. The method of claim 15, wherein lifting the patient bed comprises: moving the rolling bed(s) into contact with a plurality of locations of the patient bed; and driving the articulated body along an axis parallel to the third axis.
 19. The method of claim 5, wherein moving the second robotic patient transfer device near the patient bed comprises: computing a path for the second unmanned vehicle; driving the second unmanned vehicle along the said path; and positioning as well as aligning the rolling bed(s) to a height equal to the height of the rolling bed(s) that lifted the patient bed.
 20. The method of claim 19, wherein positioning as well as aligning the rolling bed(s) comprises: computing a path for the rolling bed(s) in terms of position as well as orientation; and driving the rolling bed(s) along the said path. 